Title :
Output regulation for over-actuated linear systems via inverse model allocation
Author_Institution :
Dept. of Electr. & Comput. Eng., Ohio State Univ., Columbus, OH, USA
Abstract :
The synthesis of a full-information regulator for over-actuated linear systems is considered in this paper. Over-actuation with injective input maps allows for redundancy in the steady-state trajectory in the state space compatible with a given reference output. This type of redundancy is completely characterized by means of geometric techniques and the results of the analysis are used to define an extended servomechanism that allows allocation of the reference trajectory in the state space to optimize certain cost functionals while maintaing invariance of the error-zeroing subspace. Examples of linear static and nonlinear dynamic allocation strategies are presented.
Keywords :
control system synthesis; linear systems; servomechanisms; error-zeroing subspace; extended servomechanism; full-information regulator synthesis; geometric technique; inverse model allocation; linear static allocation strategy; nonlinear dynamic allocation strategy; output regulation; over-actuated linear system; reference trajectory allocation; steady-state trajectory; Cost function; Redundancy; Regulators; Resource management; Servomechanisms; Steady-state; Trajectory;
Conference_Titel :
Decision and Control (CDC), 2012 IEEE 51st Annual Conference on
Conference_Location :
Maui, HI
Print_ISBN :
978-1-4673-2065-8
Electronic_ISBN :
0743-1546
DOI :
10.1109/CDC.2012.6426209
